CN117006309B - Servo valve redundant servo control method and control system - Google Patents

Servo valve redundant servo control method and control system Download PDF

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Publication number
CN117006309B
CN117006309B CN202311261065.7A CN202311261065A CN117006309B CN 117006309 B CN117006309 B CN 117006309B CN 202311261065 A CN202311261065 A CN 202311261065A CN 117006309 B CN117006309 B CN 117006309B
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control period
lvdt
value
current control
servo
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CN117006309A (en
Inventor
王鑫
管磊
钟庆尧
李家港
柳曦
杨柳
豆心杰
张军
张昇
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Xian Thermal Power Research Institute Co Ltd
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Xian Thermal Power Research Institute Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • F16K37/0025—Electrical or magnetic means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic

Abstract

The invention belongs to the technical field of gas turbine control, and discloses a servo valve redundancy servo control method and a control system, wherein the method comprises the following steps: the controller transmits a first LVDT deviation value to the first servo card and transmits a second LVDT deviation value to the second servo card; the first servo card corrects the first LVDT feedback value according to the first LVDT deviation value to obtain a first servo valve driving signal of the current control period and sends the first servo valve driving signal to the servo valve according to the first LVDT feedback correction value and the valve position command; and the second servo card corrects the second LVDT feedback value according to the second LVDT deviation value to obtain a second servo valve driving signal of the current control period and sends the second servo valve driving signal to the servo valve according to the second LVDT feedback correction value and the valve position command. The situation that the redundant servo valve driving signals are completely opposite is basically avoided, and the implementation cost of the redundant servo control of the servo valve is effectively reduced.

Description

Servo valve redundant servo control method and control system
Technical Field
The invention belongs to the technical field of gas turbine control, and relates to a redundant servo control method and a control system for a servo valve.
Background
At present, there are generally two methods for redundant servo control of servo valves. The first is to use two independent servo cards to control a servo valve, the scheme generally sends valve position instructions to the first servo card and the second servo card by a controller, the first servo card and the second servo card independently calculate servo output according to the deviation between valve position feedback values of respective LVDTs (Linear Variable Differential Transformer, linear variable differential transformers) and the valve position instructions, the scheme has the problem that the valve position feedback values of the LVDTs of the first servo card and the second servo card may have deviation, the deviation gradually increases in the use process, finally, the servo output of the two redundant servo cards is in two directions which are completely opposite, and the service life of the servo valve is shortened when the servo valve receives two driving signals with opposite directions for a long time.
The second is to control by using two servo cards of one main and one standby, this scheme usually needs to connect with the redundant servo main card and the redundant servo standby card by communication lines, and in the use process, the redundant servo main card and the redundant servo standby card continuously exchange data, so as to ensure that the servo outputs of the two servo cards are basically consistent, and thus avoid outputting driving signals with completely opposite directions. However, this solution requires special hardware to be customized for the servo main card and the servo standby card to satisfy the communication between the main card and the standby card, which is costly.
Disclosure of Invention
The invention aims to overcome the defects that in the prior art, a redundant servo control method of a servo valve can output two completely opposite driving signals to the servo valve, so that the servo valve is damaged and the control cost is high.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect of the present invention, a method for redundant servo control of a servo valve is provided, comprising: the controller transmits valve position instructions of the current control period to the first servo card and the second servo card, transmits a first LVDT deviation value of the current control period to the first servo card, and transmits a second LVDT deviation value of the current control period to the second servo card; the first servo card acquires a first LVDT feedback value of a current control period of the servo valve, corrects the first LVDT feedback value of the current control period according to the first LVDT deviation value of the current control period to obtain a first LVDT feedback correction value of the current control period, combines valve position instructions of the current control period to obtain a first servo valve driving signal of the current control period and sends the first servo valve driving signal to the servo valve; the second servo card acquires a second LVDT feedback value of the current control period of the servo valve, corrects the second LVDT feedback value of the current control period according to the second LVDT deviation value of the current control period to obtain a second LVDT feedback correction value of the current control period, combines valve position instructions of the current control period to obtain a second servo valve driving signal of the current control period, and sends the second servo valve driving signal to the servo valve.
Optionally, the method further comprises: the first servo card sends a first LVDT feedback value of a previous control period to the controller; the second servo card sends a second LVDT feedback value of the previous control period to the controller; and the controller obtains a first LVDT deviation value of the current control period and a second LVDT deviation value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period.
Optionally, the obtaining the first LVDT offset value of the current control period and the second LVDT offset value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes: obtaining an LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period; according to the LVDT reference value of the current control period, a first LVDT deviation value of the current control period is obtained by the following formula: first LVDT offset value for current control period = current control period LVDT reference value-first LVDT feedback value for previous control period; and obtaining a second LVDT deviation value of the current control period according to the LVDT reference value of the current control period by the following formula: second LVDT offset value for current control period = current control period LVDT reference value-second LVDT feedback value for previous control period.
Optionally, the obtaining the LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes: and taking the average value of the first LVDT feedback value of the last control period, the second LVDT feedback value of the last control period, the smaller value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period, the larger value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period or the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period as the LVDT reference value of the current control period.
Optionally, the correcting the first LVDT feedback value of the current control period according to the first LVDT bias value of the current control period, to obtain the first LVDT feedback correction value of the current control period includes: the first LVDT feedback correction value of the current control period is obtained by: first LVDT feedback correction value for current control period = first LVDT feedback value for current control period + first LVDT offset value for current control period; the step of correcting the second LVDT feedback value in the current control period according to the second LVDT bias value in the current control period, where obtaining the second LVDT feedback correction value in the current control period includes: the second LVDT feedback correction value for the current control period is obtained by: second LVDT feedback correction value for current control period = second LVDT feedback value for current control period + second LVDT offset value for current control period.
In a second aspect of the present invention, a redundant servo control system for a servo valve is provided, comprising a controller, a first servo card, and a second servo card; the controller is used for issuing valve position instructions of the current control period to the first servo card and the second servo card, issuing a first LVDT deviation value of the current control period to the first servo card and issuing a second LVDT deviation value of the current control period to the second servo card; the first servo card is used for acquiring a first LVDT feedback value of a current control period of the servo valve, correcting the first LVDT feedback value of the current control period according to the first LVDT deviation value of the current control period to obtain a first LVDT feedback correction value of the current control period, combining a valve position instruction of the current control period to obtain a first servo valve driving signal of the current control period, and sending the first servo valve driving signal to the servo valve; the second servo card is used for acquiring a second LVDT feedback value of the current control period of the servo valve, correcting the second LVDT feedback value of the current control period according to the second LVDT deviation value of the current control period to obtain a second LVDT feedback correction value of the current control period, combining valve position instructions of the current control period to obtain a second servo valve driving signal of the current control period, and sending the second servo valve driving signal to the servo valve.
Optionally, the first servo card is further configured to send a first LVDT feedback value for a previous control period to the controller; the second servo card is also used for sending a second LVDT feedback value of the previous control period to the controller; the controller is further configured to obtain a first LVDT offset value in a current control period and a second LVDT offset value in the current control period according to the first LVDT feedback value in the previous control period and the second LVDT feedback value in the previous control period.
Optionally, the obtaining the first LVDT offset value of the current control period and the second LVDT offset value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes: obtaining an LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period; according to the LVDT reference value of the current control period, a first LVDT deviation value of the current control period is obtained by the following formula: first LVDT offset value for current control period = current control period LVDT reference value-first LVDT feedback value for previous control period; and obtaining a second LVDT deviation value of the current control period according to the LVDT reference value of the current control period by the following formula: second LVDT offset value for current control period = current control period LVDT reference value-second LVDT feedback value for previous control period.
Optionally, the obtaining the LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes: and taking the average value of the first LVDT feedback value of the last control period, the second LVDT feedback value of the last control period, the smaller value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period, the larger value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period or the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period as the LVDT reference value of the current control period.
Optionally, the correcting the first LVDT feedback value of the current control period according to the first LVDT bias value of the current control period, to obtain the first LVDT feedback correction value of the current control period includes: the first LVDT feedback correction value of the current control period is obtained by: first LVDT feedback correction value for current control period = first LVDT feedback value for current control period + first LVDT offset value for current control period; the step of correcting the second LVDT feedback value in the current control period according to the second LVDT bias value in the current control period, where obtaining the second LVDT feedback correction value in the current control period includes: the second LVDT feedback correction value for the current control period is obtained by: second LVDT feedback correction value for current control period = second LVDT feedback value for current control period + second LVDT offset value for current control period.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a servo valve redundancy servo control method, which comprises the steps of issuing a first LVDT deviation value of a current control period to a first servo card through a controller, issuing a second LVDT deviation value of the current control period to a second servo card, correcting the first LVDT feedback value and the second LVDT feedback value of the current control period according to the first LVDT deviation value and the second LVDT deviation value of the current control period respectively by the first servo card and the second servo card, obtaining a first LVDT feedback correction value and a second LVDT feedback correction value of the current control period, further obtaining a first servo valve driving signal and a second servo valve driving signal of the current control period based on the first LVDT feedback correction value and the second LVDT feedback correction value of the current control period and a valve position command of the current control period, and sending the first servo valve driving signal and the second servo valve driving signal to a servo valve to realize servo valve redundancy servo control. In the servo valve redundant servo control method, through the correction effect of the first LVDT deviation value and the second LVDT deviation value, the deviation between the first servo valve driving signal and the second servo valve driving signal which are finally generated by the first servo card and the second servo card is smaller, the situation that the redundant servo valve driving signals are in the completely opposite directions is basically avoided, and the service life of the servo valve is effectively prolonged. Meanwhile, communication is not needed between the first servo card and the second servo card, so that the implementation cost of redundant servo control of the servo valve is effectively reduced.
Drawings
FIG. 1 is a flowchart of a redundant servo control method for a servo valve according to an embodiment of the present invention.
FIG. 2 is a block diagram of a redundant servo control system for a servo valve according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1, in an embodiment of the present invention, a redundant servo control method for a servo valve is provided, which can effectively prolong the service life of the servo valve and reduce the implementation cost, and specifically includes the following steps:
s1: the controller issues valve position instructions of the current control period to the first servo card and the second servo card, and issues first LVDT deviation values of the current control period to the first servo card, and issues second LVDT deviation values of the current control period to the second servo card.
S2: the first servo card acquires a first LVDT feedback value of a current control period of the servo valve, corrects the first LVDT feedback value of the current control period according to the first LVDT deviation value of the current control period to obtain a first LVDT feedback correction value of the current control period, combines valve position instructions of the current control period to obtain a first servo valve driving signal of the current control period, and sends the first servo valve driving signal to the servo valve.
S3: the second servo card acquires a second LVDT feedback value of the current control period of the servo valve, corrects the second LVDT feedback value of the current control period according to the second LVDT deviation value of the current control period to obtain a second LVDT feedback correction value of the current control period, combines valve position instructions of the current control period to obtain a second servo valve driving signal of the current control period, and sends the second servo valve driving signal to the servo valve.
The valve position command of the current control period can be set by the upper computer according to the actual requirement of the current control period, and then the valve position command is issued to the controller by the upper computer, or the valve position command can be directly and manually input into the controller.
The first servo card is connected with a first LVDT of the servo valve, receives a valve position feedback signal of a current control period sent by the first LVDT, and calculates the valve position feedback signal of the current control period sent by the first LVDT to obtain a first LVDT feedback value of the current control period of the servo valve.
And the second servo card is connected with a second LVDT of the servo valve, receives a valve position feedback signal of the current control period sent by the second LVDT, and calculates the valve position feedback signal of the current control period sent by the second LVDT to obtain a first LVDT feedback value of the current control period of the servo valve.
Specifically, when the first servo card obtains the first servo valve driving signal of the current control period according to the first LVDT feedback correction value of the current control period and the valve position command of the current control period, a conventional servo valve driving signal processing method, such as a PID (proportional-integral-differential) control method, may be adopted. Similarly, when the second servo card obtains the second servo valve driving signal of the current control period according to the second LVDT feedback correction value of the current control period and the valve position command of the current control period, the same method can also be adopted.
In summary, according to the servo valve redundancy servo control method disclosed by the invention, a controller is used for issuing a first LVDT deviation value of a current control period to a first servo card and issuing a second LVDT deviation value of the current control period to a second servo card, and then the first servo card and the second servo card respectively correct the first LVDT feedback value and the second LVDT feedback value of the current control period according to the first LVDT deviation value and the second LVDT deviation value of the current control period to obtain a first LVDT feedback correction value and a second LVDT feedback correction value of the current control period, and further obtain a first servo valve driving signal and a second servo valve driving signal of the current control period based on the first LVDT feedback correction value and the second LVDT feedback correction value of the current control period and a valve position command of the current control period, and send the first servo valve driving signal and the second servo valve driving signal to a servo valve to realize servo valve redundancy servo control. According to the method, through the correction effect of the first LVDT deviation value and the second LVDT deviation value, the deviation between the first servo valve driving signal and the second servo valve driving signal which are finally generated by the first servo card and the second servo card is smaller, the situation that redundant servo valve driving signals are in the completely opposite directions is basically avoided, and the service life of the servo valve is effectively prolonged. Meanwhile, communication is not needed between the first servo card and the second servo card, so that the implementation cost of redundant servo control of the servo valve is effectively reduced.
In one possible implementation manner, the servo valve redundancy servo control method further comprises the following steps: the first servo card sends a first LVDT feedback value of a previous control period to the controller; the second servo card sends a second LVDT feedback value of the previous control period to the controller; and the controller obtains a first LVDT deviation value of the current control period and a second LVDT deviation value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period.
Specifically, because the communication between the servo card and the controller is much slower than the closed-loop control of the servo card, in order to ensure the real-time performance of the servo valve control, in this embodiment, the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period are sent to the controller in the previous control period, so that before the current control period starts, the controller can send the first LVDT offset value of the current control period and the second LVDT offset value of the current control period to the first servo card and the second servo card, so that the servo card can calculate the servo valve driving signal after sending the LVDT feedback value of the current control period to the controller without waiting for the controller to reply the LVDT offset value.
In addition, in a scene with low real-time requirements, or when the communication time between the controller and the servo card is short, the first LVDT feedback value of the current control period and the second LVDT feedback value of the current control period can be sent to the controller through the first servo card and the second servo card, and then the first LVDT deviation value of the current control period and the second LVDT deviation value of the current control period are generated based on the first LVDT feedback value of the current control period and the second LVDT feedback value of the current control period.
In one possible implementation manner, the obtaining the first LVDT offset value of the current control period and the second LVDT offset value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes: obtaining an LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period; according to the LVDT reference value of the current control period, a first LVDT deviation value of the current control period is obtained by the following formula: first LVDT offset value for current control period = current control period LVDT reference value-first LVDT feedback value for previous control period; and obtaining a second LVDT deviation value of the current control period according to the LVDT reference value of the current control period by the following formula: second LVDT offset value for current control period = current control period LVDT reference value-second LVDT feedback value for previous control period.
Optionally, when the LVDT reference value of the current control period is obtained according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period, the first LVDT feedback value of the previous control period, the second LVDT feedback value of the previous control period, a smaller value of the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period, a larger value of the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period, or an average value of the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period may be used as the LVDT reference value of the current control period.
Optionally, the correcting the first LVDT feedback value of the current control period according to the first LVDT bias value of the current control period, to obtain the first LVDT feedback correction value of the current control period includes: the first LVDT feedback correction value of the current control period is obtained by: first LVDT feedback correction value for current control period = first LVDT feedback value for current control period + first LVDT offset value for current control period.
The step of correcting the second LVDT feedback value in the current control period according to the second LVDT bias value in the current control period, where obtaining the second LVDT feedback correction value in the current control period includes: the second LVDT feedback correction value for the current control period is obtained by: second LVDT feedback correction value for current control period = second LVDT feedback value for current control period + second LVDT offset value for current control period.
Referring to FIG. 2, in yet another embodiment of the present invention, a redundant servo control system for a servo valve is provided, comprising a controller, a first servo card, and a second servo card.
The controller is used for issuing valve position instructions of the current control period to the first servo card and the second servo card, issuing first LVDT deviation values of the current control period to the first servo card and issuing second LVDT deviation values of the current control period to the second servo card.
The first servo card is used for acquiring a first LVDT feedback value of a current control period of the servo valve, correcting the first LVDT feedback value of the current control period according to the first LVDT deviation value of the current control period to obtain a first LVDT feedback correction value of the current control period, combining valve position instructions of the current control period to obtain a first servo valve driving signal of the current control period, and sending the first servo valve driving signal to the servo valve.
The second servo card is used for acquiring a second LVDT feedback value of the current control period of the servo valve, correcting the second LVDT feedback value of the current control period according to the second LVDT deviation value of the current control period to obtain a second LVDT feedback correction value of the current control period, combining valve position instructions of the current control period to obtain a second servo valve driving signal of the current control period, and sending the second servo valve driving signal to the servo valve.
In one possible implementation, the first servo card is further configured to send a first LVDT feedback value for a previous control period to the controller; the second servo card is also used for sending a second LVDT feedback value of the previous control period to the controller; the controller is further configured to obtain a first LVDT offset value in a current control period and a second LVDT offset value in the current control period according to the first LVDT feedback value in the previous control period and the second LVDT feedback value in the previous control period.
In one possible implementation manner, the obtaining the first LVDT offset value of the current control period and the second LVDT offset value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes: obtaining an LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period; according to the LVDT reference value of the current control period, a first LVDT deviation value of the current control period is obtained by the following formula: first LVDT offset value for current control period = current control period LVDT reference value-first LVDT feedback value for previous control period; and obtaining a second LVDT deviation value of the current control period according to the LVDT reference value of the current control period by the following formula: second LVDT offset value for current control period = current control period LVDT reference value-second LVDT feedback value for previous control period.
In one possible implementation manner, the obtaining the LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes: and taking the average value of the first LVDT feedback value of the last control period, the second LVDT feedback value of the last control period, the smaller value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period, the larger value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period or the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period as the LVDT reference value of the current control period.
In one possible implementation manner, the correcting the first LVDT feedback value of the current control period according to the first LVDT bias value of the current control period, to obtain the first LVDT feedback correction value of the current control period includes: the first LVDT feedback correction value of the current control period is obtained by: first LVDT feedback correction value for current control period = first LVDT feedback value for current control period + first LVDT offset value for current control period.
The step of correcting the second LVDT feedback value in the current control period according to the second LVDT bias value in the current control period, where obtaining the second LVDT feedback correction value in the current control period includes: the second LVDT feedback correction value for the current control period is obtained by: second LVDT feedback correction value for current control period = second LVDT feedback value for current control period + second LVDT offset value for current control period.
All relevant contents of each step involved in the foregoing embodiment of the redundant servo control method for a servo valve may be cited in the functional description of the corresponding functional module of the redundant servo control system for a servo valve in the embodiment of the present invention, which is not described herein.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims (4)

1. A method of redundant servo control of a servo valve, comprising:
the controller transmits valve position instructions of the current control period to the first servo card and the second servo card, transmits a first LVDT deviation value of the current control period to the first servo card, and transmits a second LVDT deviation value of the current control period to the second servo card;
the first servo card acquires a first LVDT feedback value of a current control period of the servo valve, corrects the first LVDT feedback value of the current control period according to the first LVDT deviation value of the current control period to obtain a first LVDT feedback correction value of the current control period, combines valve position instructions of the current control period to obtain a first servo valve driving signal of the current control period and sends the first servo valve driving signal to the servo valve;
the second servo card acquires a second LVDT feedback value of the current control period of the servo valve, corrects the second LVDT feedback value of the current control period according to the second LVDT deviation value of the current control period to obtain a second LVDT feedback correction value of the current control period, combines valve position instructions of the current control period to obtain a second servo valve driving signal of the current control period, and sends the second servo valve driving signal to the servo valve;
further comprises:
the first servo card sends a first LVDT feedback value of a previous control period to the controller;
the second servo card sends a second LVDT feedback value of the previous control period to the controller;
the controller obtains a first LVDT deviation value of the current control period and a second LVDT deviation value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period;
the obtaining the first LVDT offset value of the current control period and the second LVDT offset value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes:
obtaining an LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period;
according to the LVDT reference value of the current control period, a first LVDT deviation value of the current control period is obtained by the following formula: first LVDT offset value for current control period = current control period LVDT reference value-first LVDT feedback value for previous control period;
and obtaining a second LVDT deviation value of the current control period according to the LVDT reference value of the current control period by the following formula: second LVDT offset value for current control period = current control period LVDT reference value-second LVDT feedback value for previous control period;
the obtaining the LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes:
and taking the average value of the first LVDT feedback value of the last control period, the second LVDT feedback value of the last control period, the smaller value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period, the larger value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period or the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period as the LVDT reference value of the current control period.
2. The method of claim 1, wherein the step of correcting the first LVDT feedback value for the current control period according to the first LVDT bias value for the current control period to obtain the first LVDT feedback correction value for the current control period includes:
the first LVDT feedback correction value of the current control period is obtained by:
first LVDT feedback correction value for current control period = first LVDT feedback value for current control period + first LVDT offset value for current control period;
the step of correcting the second LVDT feedback value in the current control period according to the second LVDT bias value in the current control period, where obtaining the second LVDT feedback correction value in the current control period includes:
the second LVDT feedback correction value for the current control period is obtained by:
second LVDT feedback correction value for current control period = second LVDT feedback value for current control period + second LVDT offset value for current control period.
3. A servo valve redundant servo control system is characterized by comprising a controller, a first servo card and a second servo card;
the controller is used for issuing valve position instructions of the current control period to the first servo card and the second servo card, issuing a first LVDT deviation value of the current control period to the first servo card and issuing a second LVDT deviation value of the current control period to the second servo card;
the first servo card is used for acquiring a first LVDT feedback value of a current control period of the servo valve, correcting the first LVDT feedback value of the current control period according to the first LVDT deviation value of the current control period to obtain a first LVDT feedback correction value of the current control period, combining a valve position instruction of the current control period to obtain a first servo valve driving signal of the current control period, and sending the first servo valve driving signal to the servo valve;
the second servo card is used for acquiring a second LVDT feedback value of the current control period of the servo valve, correcting the second LVDT feedback value of the current control period according to the second LVDT deviation value of the current control period to obtain a second LVDT feedback correction value of the current control period, combining valve position instructions of the current control period to obtain a second servo valve driving signal of the current control period, and sending the second servo valve driving signal to the servo valve;
the first servo card is also used for sending a first LVDT feedback value of a previous control period to the controller;
the second servo card is also used for sending a second LVDT feedback value of the previous control period to the controller;
the controller is further used for obtaining a first LVDT deviation value of the current control period and a second LVDT deviation value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period;
the obtaining the first LVDT offset value of the current control period and the second LVDT offset value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes:
obtaining an LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period;
according to the LVDT reference value of the current control period, a first LVDT deviation value of the current control period is obtained by the following formula: first LVDT offset value for current control period = current control period LVDT reference value-first LVDT feedback value for previous control period;
and obtaining a second LVDT deviation value of the current control period according to the LVDT reference value of the current control period by the following formula: second LVDT offset value for current control period = current control period LVDT reference value-second LVDT feedback value for previous control period;
the obtaining the LVDT reference value of the current control period according to the first LVDT feedback value of the previous control period and the second LVDT feedback value of the previous control period includes:
and taking the average value of the first LVDT feedback value of the last control period, the second LVDT feedback value of the last control period, the smaller value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period, the larger value of the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period or the first LVDT feedback value of the last control period and the second LVDT feedback value of the last control period as the LVDT reference value of the current control period.
4. The redundant servo control system of claim 3 wherein said modifying the first LVDT feedback value for the current control period based on the first LVDT bias value for the current control period, the first LVDT feedback correction value for the current control period comprising:
the first LVDT feedback correction value of the current control period is obtained by:
first LVDT feedback correction value for current control period = first LVDT feedback value for current control period + first LVDT offset value for current control period;
the step of correcting the second LVDT feedback value in the current control period according to the second LVDT bias value in the current control period, where obtaining the second LVDT feedback correction value in the current control period includes:
the second LVDT feedback correction value for the current control period is obtained by:
second LVDT feedback correction value for current control period = second LVDT feedback value for current control period + second LVDT offset value for current control period.
CN202311261065.7A 2023-09-27 2023-09-27 Servo valve redundant servo control method and control system Active CN117006309B (en)

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